Discussion 2 Android science Appearance or behavior 1
Two evaluation methods Bottom up Incrementally add elemental behaviors and check the effect in each step Top down Develop an android robot which looks like a human. Delete elemental behaviors one by one. An example of the elemental behavior Eye contact 2
Top down approach to appearance and behavior problem Basic questions - Dose appearance influences the interaction? - Which is more impressive for a human? - Can we have phased definition of difference between a robot and a human? Development of an android robot 3
How to make Android robot 4
Inside mech. 5
The skeleton Behaviors 1 6
Behaviors 2 First contact 7
Tow primary experiments 1. Difference between an android robot and a humanoid robot 2. Impression of an android robot Difference between an android robot and a humanoid robot Eye motion explains the impression 8
Recorded eye motions Gazing points Human Active android Static android 9
How dose a human recognize the android robot Subjects from different ages (2 weeks to 5 years) Record subjects behaviors and eye motions Appearance is more important for an infant? How dose the balance change as she/he grows up? Similarity and familiarity [Mori et al. 97] 10
Impression of the android robot Familiarity? 5 years old 1st week 2nd 3rd 90 years old? Hypotheses for appearance and behaviors Evaluation Similarity of behavior Similarity of appearance Hypothesis for appearance Evaluation Evaluation Synergy effect Similarity of behavior Similarity of appearance Uncanny valley Similarity of behavior Similarity of appearance Hypothesis for behavior 11
Behavior and appearance problem - Comparison between robot-human communication and human-human communication - Identification of the synergy effect of behavior and appearance - Transition of uncanny valley by subject s age Evaluation criteria for interaction - Modeling human-human communication based on norm - Evaluation of interaction based on norm Evaluation of interaction Synergy effect Similarity of behavior Similarity of appearance Uncanny valley Human-like appearance of an android Natural behaviors of an android - Hierarchical control based on conscious and unconscious behaviors - Motion generation based on synchronization among sensors and actuators - Natural behavior generation based on sinusoidal signals - Copying human behaviors to androids by CNLPCA New android robot 12
Another experiment with an adult android 1. How do subjects react to questions by the android? 2. How do subjects awake to the android? Videos 1. How do subjects react to questions by the android? 2. How do subjects awake to the android? 13
Android that has functions for perception and representation Omni. cam. Omni. mic. Infrared sensors Cam. & Mic. Skin sensors Floor sensors Very similar appearance to human 14
Development of better androids Perception: Integration with sensor networks Omni. cam. Omni. mic. Infrared sensors Cam. & Mic. Skin sensors Prototype system Floor sensors 15
Human behavior recognition by the sensor network Distributed touch sensors Position Position model Distributed vision Gesture recognition by vision Distributed audition Dynamic formation of Microphone arrays Behavior Dialogue Behavior model Dialogue model Very similar behavior - Unconscious behavior - 16
Very similar reaction - Natural reactions - Evaluation of interaction by brain science Total Turing Test How to compensate the uncanny valley Conscious and unconscious human reaction Opt-topography 17
Android science Development of mechanical humans Mechanical eng. Control sys. Robotics Sensor tec. A. I. Hypothesis and verification Analysis of human Neuro sci. Cognitive sci. Psychology Integration of science and engineering 18